U.S. patent number 9,493,072 [Application Number 14/734,058] was granted by the patent office on 2016-11-15 for safety confirmation support system for vehicle driver and method for supporting safety confirmation of vehicle driver.
This patent grant is currently assigned to DENSO CORPORATION. The grantee listed for this patent is DENSO CORPORATION. Invention is credited to Hirotaka Goto, Shohei Morikawa, Yasutsugu Nagatomi, Toshiaki Nakayama, Katsuyoshi Nishii.
United States Patent |
9,493,072 |
Goto , et al. |
November 15, 2016 |
Safety confirmation support system for vehicle driver and method
for supporting safety confirmation of vehicle driver
Abstract
In a driver's safety confirmation support system, a moving
object detection section detects a moving object approaching to a
vehicle in any of detection areas around a vehicle. When the moving
object detection section detects the moving object in the detection
area on a left side of the vehicle, a display control section
controls a right display section provided in a right area relative
to a driver's seat to display information regarding the moving
object detected. When the moving object detection section detects
the moving object in the detection area on a right side of the
vehicle, the display control section controls a left display
section provided in a left area relative to the driver's seat to
display information regarding the moving object.
Inventors: |
Goto; Hirotaka (Nagoya,
JP), Nishii; Katsuyoshi (Okazaki, JP),
Nakayama; Toshiaki (Miyoshi, JP), Morikawa;
Shohei (Ichinomiya, JP), Nagatomi; Yasutsugu
(Nisshin, JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
DENSO CORPORATION |
Kariya, Aichi-pref. |
N/A |
JP |
|
|
Assignee: |
DENSO CORPORATION (Kariya,
JP)
|
Family
ID: |
54707031 |
Appl.
No.: |
14/734,058 |
Filed: |
June 9, 2015 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20150360565 A1 |
Dec 17, 2015 |
|
Foreign Application Priority Data
|
|
|
|
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Jun 11, 2014 [JP] |
|
|
2014-120101 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60K
35/00 (20130101); G09G 3/2003 (20130101); G09G
3/2059 (20130101); G02B 27/01 (20130101); B60R
1/00 (20130101); B60R 2300/8093 (20130101); B60R
2300/70 (20130101); G02B 2027/014 (20130101); B60K
2370/177 (20190501); B60K 2370/52 (20190501); B60R
2300/8026 (20130101); B60K 2370/1529 (20190501); B60K
2370/191 (20190501); B60R 2300/301 (20130101); B60K
2370/166 (20190501); G02B 2027/0138 (20130101) |
Current International
Class: |
B60K
35/00 (20060101); B60R 1/00 (20060101); G09G
3/20 (20060101); G02B 27/01 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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1491978 |
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Dec 2004 |
|
EP |
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06230132 |
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Aug 1994 |
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JP |
|
H11-048828 |
|
Feb 1999 |
|
JP |
|
2002019491 |
|
Jan 2002 |
|
JP |
|
2003291688 |
|
Oct 2003 |
|
JP |
|
2005-134971 |
|
May 2005 |
|
JP |
|
2006-088758 |
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Apr 2006 |
|
JP |
|
2006224700 |
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Aug 2006 |
|
JP |
|
2010018201 |
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Jan 2010 |
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JP |
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2012-113605 |
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Jun 2012 |
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JP |
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2013-164688 |
|
Aug 2013 |
|
JP |
|
WO 2014/076841 |
|
May 2014 |
|
WO |
|
Other References
JPO machine translation of JP 2006-224700 (original JP document
published Aug. 31, 2006). cited by examiner.
|
Primary Examiner: Badii; Behrang
Assistant Examiner: Testardi; David
Attorney, Agent or Firm: Posz Law Group, PLC
Claims
What is claimed is:
1. A safety confirmation support system for supporting a safety
confirmation performed by a driver of a vehicle, the safety
confirmation support system comprising: a moving object detection
section including a motion detector that detects a moving object
approaching to the vehicle in a plurality of detection areas around
the vehicle; a plurality of display sections that is provided in
different directions from a driver's seat of the vehicle, each of
the plurality of display sections being associated with any of the
plurality of detection areas in a predetermined relationship; a
display control section that controls the plurality of display
sections to display information regarding the moving object
detected by the moving object detection section; and an eye
direction detection section including an image capturing device
that detects an eye direction of the driver when the moving object
detection section has detected the moving object in a detection
area that is one of the plurality of detection areas, wherein the
plurality of display sections includes a right display section
provided in a right area relative to the driver's seat and a left
display section provided in a left area relative to the driver's
seat, and the moving object detection section and the display
control section cooperating as follows: when the moving object
detection section detects the moving object in a detection area
that is one of the plurality of detection areas and is on a left
side of the vehicle, the display control section controls the right
display section to display information regarding the moving object,
the display control section and the eye direction detection section
cooperating as follows: when the moving object detection section
detects the moving object in a detection area that is one of the
plurality of detection areas and is on a right side of the vehicle,
the display control section controls the left display section to
display information regarding the moving object, when the eye
direction detection section detects the eye direction of the driver
is away from the detection area in which the moving object has been
detected, the display control section controls the display section
that is located in a driver's view to display the information
regarding the moving object, and when the eye direction detection
section detects the eye direction of the driver is in a direction
corresponding to the detection area in which the moving object has
been detected, the display control section prohibits the display
section that is located in the driver's view from displaying the
information regarding the moving object.
2. The safety confirmation support system according to claim 1,
wherein the driver's seat is disposed adjacent to one of the right
side and the left side of the vehicle, the plurality of display
sections includes a frontal display section provided in front of
the driver's seat, when the moving object detection section detects
the moving object in a detection area that is one of the detection
areas and is on a side opposite to the one of the right side and
the left side on which the driver's seat is disposed, the display
control section controls the frontal display section to display
information regarding the moving object.
3. The safety confirmation support system according to claim 1,
wherein the information regarding the moving object includes a
direction in which the moving object is detected.
4. The safety confirmation support system according to claim 1,
further comprising: a photographing section including a camera that
captures an image of each of the detection areas, wherein the
information regarding the moving object includes an image of the
detection area in which the moving object is detected and that is
captured by the photographing section.
5. The safety confirmation support system according to claim 4,
wherein in the image of the detection area displayed as the
information regarding the moving object, the moving object is
displayed in at least one of a marked manner or an enlarged
manner.
6. The safety confirmation support system according to claim 1,
wherein when the eye direction detection section detects the eye
direction of the driver is in the direction corresponding to the
detection area in which the moving object has been detected, the
display control section prohibits the display sections that are not
in the driver's view from displaying the information regarding the
moving object.
7. A method for supporting a safety confirmation of a driver of a
vehicle, the method comprising: detecting a moving object
approaching to the vehicle in any of a plurality of detection areas
around the vehicle; detecting a driver's eye direction when the
moving object has been detected in any of the plurality of
detection areas; and controlling at least one of a plurality of
display sections to display information regarding the moving object
detected, each of the plurality of display sections being
associated with any of the plurality of detection areas in a
predetermined relationship, wherein the plurality of display
sections includes a right display section that is provided in a
right area relative to a driver's seat and a left display section
that is provided in a left area relative to the driver's seat, the
controlling the at least one of the plurality of display sections
includes: controlling the right display section, when the moving
object has been detected in a detection area that is one of the
plurality of detection areas and is on a left side of the vehicle,
to display information regarding the moving object, controlling the
left display section, when the moving object is detected in a right
detection area that is one of the plurality of detection areas and
is on a right side of the vehicle, to display information regarding
the moving object, and prohibiting the display section that is in a
driver's view from displaying the information regarding the moving
object when the driver's eye direction is in a direction
corresponding to the detection area in which the moving object has
been detected.
8. A safety confirmation support system for supporting a safety
confirmation performed by a driver of a vehicle, the safety
confirmation support system comprising: a moving object detection
section including a motion detector that detects a moving object
approaching to the vehicle in a plurality of detection areas around
the vehicle; a plurality of display sections that is provided in
different directions from a driver's seat of the vehicle, each of
the plurality of display sections being associated with any of the
plurality of detection areas in a predetermined relationship; a
display control section that controls the plurality of display
sections to display information regarding the moving object
detected by the moving object detection section; and an eye
direction detection section including an image capturing device
that detects an eye direction of the driver, when the moving object
detection section has detected the moving object in a detection
area that is one of the plurality of detection areas, wherein the
plurality of display sections includes a right display section
provided in a right area relative to the driver's seat and a left
display section provided in a left area relative to the driver's
seat, and the moving object detection section, the display control
section and the eye direction detection section cooperating as
follows: when the moving object detection section detects the
moving object in a detection area that is one of the plurality of
detection areas and is on a left side of the vehicle, the display
control section controls the right display section to display
information regarding the moving object, when the moving object
detection section detects the moving object in a detection area
that is one of the plurality of detection areas and is on a right
side of the vehicle, the display control section controls the left
display section to display information regarding the moving object,
when the eye direction detection section detects the eye direction
of the driver in a direction corresponding to the detection area in
which the moving object has been detected, the display control
section prohibits the plurality of display sections from displaying
the information regarding the moving object.
Description
CROSS REFERENCE TO RELATED APPLICATION
This application is based on Japanese Patent Application No.
2014-120101 filed on Jun. 11, 2014, the disclosure of which is
incorporated herein by reference.
TECHNICAL FIELD
The present disclosure relates to a safety confirmation support
system for a vehicle driver and a method for supporting safety
confirmation of a vehicle driver.
BACKGROUND
Some of traffic accidents are likely to occur due to driver's
safety confirmation being insufficient. Various techniques for
supporting a safety confirmation performed by a driver have been
developed. For example, JP 2013-164688 A proposes a technique of
detecting a moving object, such as a pedestrian and a bicycle,
approaching to a vehicle, and displaying information regarding the
moving object detected on a display screen of a car navigation
system to notify the presence of the moving object of a driver.
In the technique of JP 2013-164688 A, if the driver who is gazing
on an object in a direction, such as another vehicle, confirms the
information regarding the moving object displayed on the display
screen by changing his eye direction from the object to the display
screen, it is difficult to pay careful attention to the object.
SUMMARY
It is an object of the present disclosure to provide a safety
confirmation support system for a vehicle driver and a method for
supporting a safety confirmation of a vehicle driver, which are
capable of arousing a driver to perform a safety confirmation for a
moving object without requiring the driver to change a direction to
gaze.
According to a first aspect of the present disclosure, a safety
confirmation support system is for supporting a safety confirmation
performed by a driver of a vehicle. The safety confirmation support
system includes a moving object detection section, a plurality of
display sections, and a display control section. The moving object
detection section detects a moving object approaching to the
vehicle in any of a plurality of detection areas around the
vehicle. The display sections are disposed in different directions
relative to a driver's seat of the vehicle. Each of the plurality
of display sections being related to any of the plurality of
detection areas in a predetermined relationship. The display
control section controls at least one of the display sections
related to the detection area in which the moving object has been
detected to display information regarding the moving object
detected. The plurality of display sections include a right display
section provided in a right area relative to the driver's seat and
a left display section provided in a left area relative to the
driver's seat. When the moving object detection section detects the
moving object in a detection area that is one of the detection
areas and is on a left side of the vehicle, the display control
section controls the right display section to display information
regarding the moving object detected. When the moving object
detection section detects the moving object in a detection area
that is one of the detection areas and is on a right side of the
vehicle, the display control section controls the left display
section to display information regarding the moving object
detected.
The display sections and the detection areas are related to each
other in a predetermined relationship. Therefore, the presence of
the moving object in a detection area that is away from the
driver's view can be notified to the driver who is gazing in a
direction in which any one of the display sections is in his view
without requiring the driver to change the direction to gaze. As
such, it is possible to arouse the driver to perform a safety
confirmation for the moving object.
The direction that the drive gazes changes according to a
situation. If the information regarding the moving objects detected
in the plural detection areas are all displayed in a common display
device, such as a display of a car navigation system, the driver
may overlook the information. On the other hand, the display
sections are arranged in different directions from the driver's
seat and are related to the plural detection areas in the
predetermined relationship. When the information regarding the
moving object is displayed by the display section that is in the
driver's view, the driver can easily recognize the moving object
and can pay attention to the moving object. Further, the
information regarding the moving object that has been detected in
the detection area in the driver's view is not displayed in the
display section that is in the driver's view. Since the information
regarding the moving object that has been recognized by the driver
is not displayed in the display section in an overlapped manner, it
is less likely that the driver will feel annoying.
According to a second aspect of the present disclosure, a method
for supporting a safety confirmation of a driver of a vehicle
includes: detecting a moving object approaching to the vehicle in
any of a plurality of detection areas around the vehicle; and
controlling at least one of a plurality of display sections that is
related to the detection area in which the moving object has been
detected to display information regarding the moving object
detected. The plurality of display sections includes a right
display section that is provided in a right area relative to a
driver's seat and a left display section that is provided in a left
area relative to the driver's seat. The controlling the at least
one of the plurality of display sections includes controlling the
right display section, when the moving object is detected in a
detection area that is one of the plurality of the detection areas
and is on a left side of the vehicle, to display information
regarding the moving object detected. The controlling the at least
one of the plurality of display sections includes controlling the
left display section, when the moving object is detected in a
detection area that is one of the plurality of the detection areas
and is on a right side of the vehicle, to display information
regarding the moving object detected.
BRIEF DESCRIPTION OF THE DRAWINGS
The above and other objects, features and advantages of the present
disclosure will become more apparent from the following detailed
description made with reference to the accompanying drawings, in
which like parts are designated by like reference numbers and in
which:
FIG. 1 is a schematic block diagram illustrating a structure of a
safety confirmation support system according to an embodiment of
the present disclosure;
FIG. 2 is a diagram illustrating detection areas around a vehicle
according to the embodiment;
FIG. 3 is a diagram illustrating display portions of the safety
confirmation support system mounted in the vehicle according to the
embodiment;
FIG. 4 is a flowchart of a safety confirmation support processing
performed by the safety confirmation support system according to
the embodiment;
FIG. 5 is a diagram for explaining a first situation where a moving
object is detected around the vehicle;
FIG. 6 is a diagram for illustrating a display mode of the moving
object displayed by a display portion in the first situation;
FIG. 7 is a diagram for explaining a second situation where a
moving object is detected around the vehicle;
FIG. 8 is a diagram for illustrating a display mode of the moving
object displayed by the display portion in the second
situation;
FIG. 9 is a diagram for illustrating a display mode of information
regarding a moving object displayed by a display portion according
to a first modification;
FIG. 10 is a diagram for illustrating a display mode of information
regarding a moving object displayed by a display portion according
to a second modification;
FIG. 11 is a diagram for illustrating a display mode of information
regarding a moving object displayed by a display portion according
to a third modification;
FIG. 12 is a schematic block diagram illustrating a structure of a
safety confirmation support system according to a fourth
modification;
FIG. 13 is a flowchart of a safety confirmation support processing
performed by a safety confirmation support system according to the
fourth modification;
FIG. 14 is a diagram for illustrating a liquid crystal display
arranged on an interior side of an A-pillar, as a modification of
the display portion; and
FIG. 15 is a diagram for illustrating a liquid crystal display
installed in a right end of a dashboard, as another modification of
the display portion.
DETAILED DESCRIPTION
Hereinafter, embodiments of the present disclosure will be
described with reference to the drawings.
A. Structure:
Referring to FIG. 1, a safety confirmation support system 10
according to an embodiment includes a moving object detection
portion 20, a vehicle speed detection portion 21, a display control
portion 22 and a display portion 23.
The moving object detection portion 20, the vehicle speed detection
portion 21, the display control portion 22 and the display portion
23 are provided by conceptually dividing the safety confirmation
support system 10 in a standpoint of functions. It is not always
necessary that the moving object detection portion 20, the vehicle
speed detection portion 21, the display control portion 22 and the
display portion 23 exist physically independent from each other.
Each of or any combination of the moving object detection portion
20, the vehicle speed detection portion 21, the display control
portion 22 and the display portion 23 may be configured or
implemented by each of or any combination of various devices,
electronic components, integrated circuits, computer including a
CPU, a memory such as a ROM and a RAM, or computer program stored
in the memory.
The moving object detection portion 20 is connected with a radar 11
and a camera 12. The radar 11 emits a radio wave toward a
predetermined detection area around a vehicle 1 and receives a
reflection wave to acquire information regarding a target. The
camera 12 captures an image of the detection area.
The moving object detection portion 20 detects a moving object
approaching to the vehicle 1 in the detection area based on the
target information acquired by the radar 11 or the image captured
by the camera 12. In the present embodiment, the moving object
detection portion 20 corresponds to a moving object detection
section, and the camera 12 corresponds to a photographing
section.
The vehicle speed detection portion 21 detects a speed (traveling
speed) of the vehicle 1. In the present disclosure, the vehicle 1
to which the safety confirmation support system 10 is equipped will
also be referred to as an own vehicle.
When the vehicle speed detected by the vehicle speed detection
portion 21 is equal to or lower than a predetermined speed and the
moving object detection portion 20 detects a moving object, the
display control portion 22 controls the display portion 23 to
display information regarding the moving object as an image. The
display portion 23 includes plural display portions, such as
display portions 23R, 23C, 23L. The display control portion 22
controls the plural display portions. The control of the display
control portion 22 will be described later in detail.
In the present embodiment, the display control portion 22
corresponds to a display control section, and the display portion
23 corresponds to an example of a display section.
As shown in FIG. 2, plural detection areas are provided around the
vehicle 1. For example, there are four detection areas, such as a
first detection area Ta, a second detection area Tb, a third
detection area Tc, and a fourth detection area Td, around the
vehicle 1. The first detection area Ta is provided at a front left
area of the vehicle 1. The second detection area Tb is provided at
a front right area of the vehicle 1. The third detection area Tc is
provided at a left side area of the vehicle 1. The fourth detection
area Td is provided at a right side area of the vehicle 1.
The radar 11 includes plural radars, such as a first radar 11a, a
second radar 11b, a third radar 11c, and a fourth radar 11d.
Similarly, the camera 12 includes plural cameras, such as a first
camera 12a, a second camera 12b, a third camera 12c, and a fourth
camera 12d. The first to fourth radars 11a, 11b, 11c and 11d and
the first to fourth cameras 12a, 12b, 12c and 12d, as the radar 11
and the camera 12, are arranged correspondingly to the first to
fourth detection areas Ta, Tb, Tc and Td.
Specifically, the first radar 11a and the first camera 12a are
provided at a left area of the front part of the vehicle 1 toward
the first detection area Ta. The second radar 11b and the second
camera 12b are provided at a right area of the front part of the
vehicle 1 toward the second detection area Tb. The third radar 11c
and the third camera 12c are provided at a left sideview mirror 2L
of the vehicle 1 toward the third detection area Tc. The fourth
radar 11d and the fourth camera 12d are provided at a right
sideview mirror 2R of the vehicle 1 toward the fourth detection
area Td.
As shown in FIG. 3, the display portion 23 is, for example,
provided by or implemented by a head-up display (HUD) apparatus.
The display portion 23 displays a virtual image overlapping with a
front view (scene) of the vehicle 1 by projecting an image onto a
display area of a windshield 3 from a body device of the HUP
apparatus installed in a dashboard 4.
FIG. 3 indicates a position of the display area of the windshield 3
onto which the image is projected, as the display portion 23. For
example, the display portion 23 includes the left display portion
23L, the right display portion 23R and the frontal display portion
23C, as the display areas. The left display portion 23L is provided
at a left lower portion of the windshield 3. The right display
portion 23R is provided at a right lower portion of the windshield
3. The frontal display portion 23C is provided at a lower portion
of the windshield 3 in front of a driver's seat.
B. Safety Confirmation Support Processing
The safety confirmation support system 10 performs a safety
confirmation support processing according to a flowchart of FIG.
4.
When the safety confirmation support processing is started at S100,
the vehicle speed (travelling speed) Sv of the vehicle 1 is
acquired first at S101. It is determined at S102 whether the
vehicle speed Sv is equal to or lower than a predetermined speed Sp
(e.g., 5 km/h). In the present embodiment, the safety confirmation
support system 10 is for supporting the safety confirmation
performed by the driver at the time of temporary halt of the
vehicle 1 or when the vehicle 1 travels at a low speed. When the
vehicle speed Sv is higher than the predetermined speed Sp (S102:
NO), the processing returns to the beginning and waits while
checking the vehicle speed.
Note that a position information or a map information may be
additionally acquired from a car navigation system. It may be
determined whether the driver is in a situation requiring support
for the safety confirmation (e.g., at an intersection) based on the
position information or the map information, in addition to the
vehicle speed Sv.
When the vehicle speed Sv is equal to or less than the
predetermined speed Sp (S102: YES), the information regarding a
target (hereinafter, referred to as the target information)
captured by the radar 11 and an image captured by the camera 12 are
acquired at S103. It is determined at S104 whether a moving object
approaching to the vehicle 1 is present in any detection area based
on the target information and the captured image acquired.
As described above, there are the four detection areas Ta, Tb, Tc
and Td around the vehicle 1. It is determined whether a moving
object is present in any of the detection areas Ta, Tb, Tc and Td
by analyzing the target information captured by the radars 11a,
11b, 11c and 11d. Further, a type of the moving object, such as a
pedestrian or a person riding on a bicycle (hereinafter, simply
referred to as the bicycle), is determined by analyzing the images
captured by the cameras 12a, 12b, 12c and 12d. Plural templates of
pedestrians and bicycles have been prepared beforehand. The type of
the moving object is determined based on which template the moving
object coincides with.
In the present embodiment, the radar 11 is used for detecting the
moving object. However, the moving object may be detected by any
other devices. For example, the moving object may be detected using
a sonar that acquires a target information by emitting a sound wave
to a detection area and receiving the reflection. As another
example, an object approaching to the vehicle 1 may be detected as
the moving object by storing the image captured by the camera 12
and comparing the image with the image captured immediately
before.
When there is no moving object in the detection areas (S104: NO),
the processing returns to the beginning and checks the vehicle
speed Sv at S101.
When there is the moving object in any of the detection areas
(S104: YES), any of the display portions 23L, 23C, 23R is selected
according to the detection area Ta to Td in which the moving object
has been detected, at S105. The display portion 23 (23L, 23C, 23R)
selected is controlled to display the information regarding the
moving object (e.g., the captured image of the moving object) at
S106. Thereafter, the safety confirmation support processing
returns to the beginning and repeats the process described
above.
In the present embodiment, each of the display portions 23L, 23C
and 23R is associated to any of the detection areas Ta, Tb, Tc and
Td. The display portion to display the moving object detected is
different depending on the detection area where the moving object
has been detected.
C. First Situation:
FIG. 5 illustrates a first situation as an example where a moving
object is detected around the own vehicle 1. In the first
situation, the own vehicle 1 is temporarily stopped at an end of a
narrow road (e.g., non-priority road) of a T-shaped crossroad in
order to turn right to enter a wide road (priority road having a
priority higher than that of the narrow road). In the priority
road, there is another vehicle (different vehicle) 100 approaching
to the own vehicle 1 on the right side and a bicycle 200
approaching to the own vehicle 1 on the left side.
In the first situation, the bicycle 200 is detected as a moving
object in the first detection area Ta set at the left front area of
the own vehicle 1.
FIG. 6 illustrates a state where the information regarding the
moving object is displayed by the display portion 23 in the first
situation. In FIG. 6, a chain dashed line L1 connecting solid
circles indicates a track of the driver's eyes in the first
situation. The size of solid circles is proportional to the length
of time the driver's eyes stayed. That is, the size of the solid
circles is increased with the length of time the driver's eyes
stayed.
The driver's gaze is more concentrated on the right side than the
left side with respect to the driver's seat for confirming the
safety of the different vehicle 100 approaching to the own vehicle
1 on the right side. In this case, the driver's attention to the
moving object (bicycle) 200 approaching to the own vehicle 1 on the
left side is less than that to the different vehicle 100.
In the present embodiment, the right display portion 23R is
associated with the first detection area Ta. When the moving object
200 is detected in the first detection area Ta, the image of the
moving object 200 captured by the first camera 12a is displayed in
the right display portion 23R.
In this case, it is possible to notify the driver who is gazing in
a rightward direction in which the right display portion 23R is in
the driver's view of the presence of the moving object 200 detected
in the first detection area Ta, which is on the opposite side to
the driver's gazing direction. As such, it is possible to arouse
the driver to perform the safety confirmation for the moving object
200.
When the driver is gazing in a leftward direction in which the left
display portion 23L is in the driver's view, a possibility that the
moving object 200 detected in the first detection area Ta is in the
driver's view is high. For this reason, the left display portion
23L is not associated with the first detection area Ta, and the
information regarding the moving object 200 detected in the first
detection area Ta is no displayed by the left display portion
23L.
On the contrary to the example of FIG. 5, it is assumed that there
are another vehicle (different vehicle) approaching to the own
vehicle 1 on the left side and a bicycle approaching to the own
vehicle 1 on the right side, in the priority road. In this case,
the driver tends to more concentrate on the left side than on the
right side for the safety confirmation of the different vehicle
approaching to the own vehicle 1 on the left side, and thus to pay
less attention to the moving object (bicycle) approaching to the
own vehicle on the right side than to the different vehicle.
For this reason, the left display portion 23L is associated with
the second detection area Tb (see FIG. 2) set to the right front
area of the own vehicle 1. When the moving object is detected in
the second detection area Tb, the image of the moving object
captured by the second camera 12b is displayed by the left display
portion 23L.
Therefore, the driver can recognize the presence of the moving
object detected in the second detection area Tb while gazing in the
leftward direction in which the left display portion 23L is in the
driver's view.
In the present embodiment, the vehicle 1 is, for example, a
right-hand drive vehicle in which the driver's seat is on the right
side. Therefore, in a state where the driver is viewing in the
frontward direction, the driver less perceives a moving object
approaching to the own vehicle 1 on the left side than a moving
object approaching to the own vehicle 1 on the right side.
For this reason, the frontal display portion 23C (see FIG. 3) is
associated with the first detection area Ta. When a moving object
is detected in the first detection area Ta, an image of the moving
object detected in the first detection area Ta is displayed by the
frontal display portion 23C.
Therefore, even when the driver is gazing in the frontward
direction of the vehicle in which the frontal display portion 23C
is in the driver's view, the driver can easily recognize the
presence of the moving object approaching to the own vehicle 1 on
the left side.
The display portion 23 is included in a region (induced visual
field) defined in approximately 50 degrees in the right and left
direction, approximately 35 degrees in the upward direction and
approximately 50 degrees in the downward direction relative to the
driver's eyes. In this case, the driver can recognize the change in
the induced visual field. The display portion 23 displays no image
until a moving object is detected. That is, the display portion 23
displays an image of a moving object only after the moving object
is detected. As such, the display portion 23 can notify the driver
of the presence of the moving object to arouse the driver to
perform the safety confirmation for the moving object.
The display portion 23 displays the captured image of the moving
object, as the information regarding the moving object. In this
case, since an area that is not viewed by the driver is compensated
by the image displayed by the display portion 23. Therefore, the
driver can confirm the moving object without facing in the
direction where the moving object is detected, that is, without
changing his eyes in the direction where the moving object is
detected.
In the display portion 23, in addition to the display of the
captured image including the moving object, the moving object may
be marked in the image to be highlighted, as shown in FIG. 6. For
example, the moving object may be surrounded with a closing line M
as the marking. In such a case, the driver can easily recognize the
moving object. For example, in the image of the detection area
captured by the camera 12 and displayed by the display portion 23,
a portion including the moving object may be enlarged. In such a
case, reliability of the information of the moving object
improves.
D. Second Situation:
FIG. 7 illustrates a second situation as an example where a moving
object is detected around the own vehicle 1. In the second
situation, the own vehicle 1 is temporarily stopped before turning
right in an intersection because there is another vehicle
(different vehicle) 300 travelling straight on an opposite lane.
Further, there is a bicycle 400 coming from the back of the own
vehicle 1 on the right side and going to across a crosswalk on a
right ahead of the own vehicle 1.
In such a second situation, the bicycle 400 is detected as a moving
object in the fourth detection area Td set at the right side area
of the own vehicle 1. In the present embodiment, the fourth
detection area Td is set in an area that is not reflected in the
right sideview mirror 2R, but can be viewed when the driver faces
rightward.
FIG. 8 illustrates a state where the information regarding the
moving object 400 is displayed by the display portion 23 in the
second situation. In FIG. 8, a chain dashed line L1 connecting
solid circles indicates a track of the driver's eyes in the second
situation. The size of solid circles is proportional to the length
of time the driver's eyes stayed. That is, the size of the solid
circles is increased with the length of time the driver's eyes
stayed.
The driver's eye direction is concentrated on the front right area
of the driver's seat for the safety confirmation to the oncoming
different vehicle 300 travelling straight on the opposite lane
while checking the change of a traffic signal. In this case, the
driver pays less attention to the moving object (bicycle) 400
crossing the crosswalk on the right ahead of the own vehicle 1,
than to the oncoming different vehicle 300.
For this reason, the fourth detection area Td is associated with
the right display portion 23R. When a moving object is detected in
the fourth detection area Td, an image of the moving object (image
captured by the fourth camera 12d oriented toward the fourth
detection area Td) is displayed by the right display portion
23R.
In this case, the display portion 23R is in the view of the driver
who is gazing on the front right area from the driver's seat. The
display portion 23R can notify the driver who is gazing on the
front right area of the presence of the moving object detected in
the fourth detection area Td that is in a direction orthogonal to
the driver's gazing direction. As such, it is possible to arouse
the driver to perform the safety confirmation for the moving
object.
As described above, in the safety confirmation support system 10 of
the present embodiment, the plural display portions 23 (e.g., the
right display portion 23R, the frontal display portion 23C and the
left display portion 23L) are disposed in different directions from
the driver to be viewed in different directions from the driver's
seat, and associated with any of the plural detection areas Ta, Tb,
Tc and Td set around the vehicle 1. The information regarding a
moving object is displayed by controlling the display portion that
is associated with the detection area in which the moving object is
detected. As the information regarding the moving object, for
example, the captured image (photographed image) of the moving
object is displayed. The display portions are suitably associated
with the detection areas in a predetermined relationship. For the
driver who is gazing in a direction in which any of the display
portions is in the driver's view, the presence of the moving object
detected in the detection area that is in a direction different
from the gazing direction of the driver can be notified by
displaying the image of the moving object by the display portion
that is in the driver's view. Therefore, it is possible to arouse
the driver to perform the safety confirmation for the moving
object. As a result, an occurrence of a minor collision with the
moving object can be reduced.
The driver's gazing direction changes according to a situation. If
the information regarding the moving object detected in any of the
detection areas is displayed in one display portion common in the
detection areas, such as on a display screen of a car navigation
system, the driver may overlook the information regarding the
moving object. In the present embodiment, on the other hand, the
plural display portions each of which is associated with any of the
plural detection areas are arranged in different directions from
the driver, and the information regarding the moving object is
displayed in the display portion that is in the driver's view. In
this case, the driver can easily recognize the information, and is
aware of performing the safety confirmation for the moving
object.
Since the display portions and the detection areas are suitably
associated to each other in a predetermined relationship,
information regarding a moving object detected in the detection
area that is in the driver's view is not displayed in the display
portion that is in the driver's view. In this case, the information
regarding the moving object that has been already recognized by the
driver is not displayed by the display portion in an overlapping
manner. Therefore, it is less likely that the driver will feel
annoying.
E. Modifications:
The embodiment described above can be modified in various ways.
Modifications of the embodiment will be described hereinafter.
E-1. First Modification:
In the embodiment described above, the image of the moving object
captured by the camera 12 (12a, 12b, 12c, 12d) oriented toward the
detection area (Ta, Tb, Tc, Td), as the information regarding the
moving object detected in the detection area (Ta, Tb, Tc, Td).
However, the information regarding the moving object displayed by
the display portion 23 is not limited to the captured image of the
moving object. The information may be displayed in any manner as
long as the information can bring the driver's attention to the
moving object.
FIG. 9 illustrates an example of the information regarding the
moving object displayed by the display portion 23 of the first
modification. The example shown in FIG. 9 is displayed by the right
display portion 23R (see FIG. 6) in the first situation of FIG.
5.
In the first modification, an arrow 200A indicating a direction in
which the moving object 200 has been detected is displayed as the
information regarding the moving object 200.
Also in this case, the presence of the moving object 200 and the
direction in which the moving object 200 is detected can be
notified to the driver, and the driver can be aware of the moving
object 200. Therefore, it is possible to arouse the driver to
perform the safety confirmation for the moving object 200.
In this case, the camera 12 for capturing the image of the moving
object is not necessary. Therefore, the notification of the moving
object can be implemented in a simple manner.
E-2. Second Modification:
FIG. 10 illustrates an example of the information regarding the
moving object displayed by the display portion 23 of the second
modification. The example shown in FIG. 10 is displayed by the
right display portion 23R (see FIG. 6) in the first situation of
FIG. 5. In the second modification, an image 1B representing the
own vehicle 1 and an image 200B representing the moving object 200
are displayed, and an approaching direction of the moving object
200 toward the own vehicle 1 is indicated by an arrow.
In this case, the approaching direction of the moving object 200 to
the own vehicle 1 can be notified to the driver. That is, the
driver can recognize from which direction the moving object 200 is
coming. Therefore, it is possible to cause the driver to be aware
of the moving object 200 and to arouse the driver to perform the
safety confirmation for the moving object 200.
E-3. Third Modification:
FIG. 11 illustrates an example of the information regarding the
moving object displayed by the display portion 23 of the third
modification. The example shown in FIG. 11 is displayed by the
right display portion 23R (see FIG. 6) in the first situation of
FIG. 5.
In the third modification, a display frame 500 representing a
convex traffic mirror, which is generally used at a road curve, is
displayed, and the captured image of the moving object (bicycle)
200 of the detection area is displayed in the display frame 500.
The display frame 500 is oriented toward a direction in which the
moving object 200 has been detected, and the captured image of the
moving object 200 is displayed as a mirror image which is reversed
in a horizontal direction.
In this case, the driver can recognize the direction of the moving
object 200 based on the direction of the display frame 500, and can
confirm the moving object 200 by the mirror image reflected
(displayed) in the display frame 500.
The convex traffic mirror is generally used at the curve of a road
for the safety confirmation. Since the information of the moving
object 200 is displayed in a manner imitating such a convex traffic
mirror used for the safety confirmation, the driver can easily
recognize the moving object 200.
E-4. Fourth Modification:
In the embodiment described above, the information regarding the
moving object is displayed by controlling the display portion 23
(23L, 23C, 23R) associated with the detection area (Ta, Tb, Tc, Td)
in which the moving object has been detected, irrespective of the
direction that the driver is gazing (i.e., the driver's eye
direction). Alternatively, the driver's eye direction may be
detected, and the display portion 23 may be controlled according to
the driver's eye direction detected.
FIG. 12 illustrates a structure of the safety confirmation support
system 10 of a fourth modification. The safety confirmation support
system 10 of the fourth modification includes an eye direction
detection portion 31, in addition to the moving object detection
portion 20, the vehicle speed detection portion 21, the display
control portion 22, and the display portion 23. The eye direction
detection portion 31 is connected with a driver camera 30 that is
installed in a passenger compartment for capturing a face image of
a driver.
The eye direction detection portion 31 analyzes the driver's face
image captured by the driver camera 30 to detect the driver's eye
direction. The eye direction detection portion 31 corresponds to an
eye direction detection section. The display control portion 22
controls the display portion 23 based on the driver's eye direction
detected by the eye direction detection portion 31.
The safety confirmation support system 10 of the fourth
modification performs a safety confirmation support processing
according to a flowchart of FIG. 13.
When the safety confirmation support processing is started at S100,
the vehicle speed (travelling speed) Sv of the vehicle 1 is
acquired at S101, and it is determined at S102 whether the vehicle
speed Sv is equal to or lower than a predetermined speed Sp (e.g.,
5 km/h). When the vehicle speed Sv is higher than the predetermined
speed Sp (S102: NO), the processing returns to the beginning and
waits while checking the vehicle speed.
When the vehicle speed Sv is equal to or less than the
predetermined speed Sp (S102: YES), the target information
regarding a target captured by the radar 11 and an image captured
by the camera 12 are acquired at S103. It is determined at S104
whether there is a moving object approaching to the vehicle 1 in
the detection areas based on the target information and the
captured image acquired. When there is no moving object in the
detection area (S104: NO), the processing returns to the beginning
and checks the vehicle speed Sv at S101.
When there is the moving object in any of the detection areas
(S104: YES), the driver's eye direction is detected at S110. The
driver's eye direction can be detected based on the position of an
iris part (iris of the eye) specified in the driver's face image
captured by the driver camera 30, for example.
Next, it is determined at S111 whether the eye direction of the
driver is toward the detection area (Ta, Tb, Tc, Td) in which the
moving object has been detected. For example, when the driver's eye
direction is in the first detection area Ta (the left front area of
the own vehicle 1) in which the moving object 200 has been detected
in the first situation in FIG. 5 (S111: YES), a possibility that
the driver has already recognized the moving object 200 is high,
the processing returns to the beginning of the safety confirmation
support processing without displaying the information regarding the
moving object 200.
On the contrary, when the driver's eye direction is not in the
detection area in which the moving object has been detected (S111:
NO), a possibility that the driver has not recognized the moving
object is high, the information regarding the moving object is
displayed in the display portion 23 that is in the driver's view,
at S112. For example, when the moving object is detected in the
first detection area Ta and the driver's eye direction is toward
the different vehicle 100 approaching to the own vehicle 1 on the
right side in the first situation of FIG. 5, the information
regarding the moving object 200 is displayed by the right display
portion 23R. Thereafter, the processing returns to the beginning
and repeats the process described above.
As described above, in the safety confirmation support system 10 of
the fourth modification, the driver's eye direction is detected and
the display portion 23 is controlled according to the driver's eye
direction detected. Therefore, the information regarding the moving
object, which is in the detection area that is not viewed by the
driver, can be displayed by the display portion 23 that is in the
driver's view. As such, the presence of the moving object that is
hardly recognized by the driver can be notified to the driver, and
it is possible to arouse the driver to perform the safety
confirmation.
If the information regarding the moving object is displayed in the
display portion 23 that is outside of the driver's view, such the
information is not viewed by the driver. Since the information
regarding the moving object is not displayed in the display portion
23 that is outside of the driver's view, power consumption in the
display portion 23 can be reduced.
Further, the information regarding the moving object detected in
the detection area corresponding to the driver's eye direction is
not displayed by the display portion that is in the driver's view.
Therefore, the driver does not feel annoying due to the information
of the moving object that has been already recognized being
displayed by the display portion in an overlapped manner with a
front view.
The embodiment and the modifications thereof described above are
further modified as follows.
For example, in the embodiment described above, the display portion
23 is provided by or implemented by the head-up display device. In
the case where the information regarding the moving object is
provided by the head-up display device, the display portion 23
(display portions 23R, 23C, 23L) may be recognized as the display
area in the windshield 3 or in any other element, such as a
combiner or a film disposed adjacent to the windshield 3.
Alternatively, the display portion 23 may intend to include a
display area and a display element that causes the display area to
display the information regarding the moving object. However, the
structure to provide or implement the display portion 23 is not
limited to the head-up display device as long as the information
regarding the moving object can be displayed.
In place of the display portion 23, as shown in FIG. 14, a display
portion 24 provided by a liquid crystal display may be installed in
an interior side of a pillar on each of the right and left sides of
the windshield 3, which is so-called A pillar, so that a display
screen of the display portion 24 faces the driver.
In place of the display portion 23, as shown in FIG. 15, a display
portion 25 provided by a liquid crystal display may be installed in
each of right and left ends of the dashboard 4 so that a display
screen of the display portion 25 faces the driver.
In the embodiment described above, the information regarding the
moving object can be displayed in any of the three display portions
(23L, 23C, 23R). However, the position to display the information
regarding the moving object may be modified.
For example, the display areas to display the information regarding
the moving object may be set in any position of the windshield 3 so
that the image can be projected to any position of the windshield 3
by the head up display device. When the driver's eye direction is
detected as in the fourth modification, a virtual image of the
information regarding the moving object may be displayed in a
predetermined area around the driver's eye direction detected.
The relationship between the display portions (23L, 23C, 23R) and
the detection areas (Ta, Tb, Tc, Td) may not be limited to the
examples of the embodiment described above.
For example, when the driver is gazing in a direction in which the
right display portion 23R is in his view, the driver cannot view
the left side area of the own vehicle 1 (e.g., the third detection
area Tc). Therefore, the third detection area Tc may be associated
with the right display portion 23R, so that the information
regarding a moving object detected in the third detection area Tc
is displayed by the right display portion 23R.
When the driver is gazing in a direction in which the left display
portion 23L is in his view, the driver cannot view the left side
area of the own vehicle 1 (e.g., the third detection area Tc) and
the right side area (e.g., the fourth detection area Td) of the own
vehicle 1. Therefore, the third detection area Tc and the fourth
detection area Td may be associated with the left display portion
23L so that the information regarding the moving object detected in
the third detection area Tc or the fourth detection area Td is
displayed in the left display portion 23L.
For example, when the moving object detection portion 20 detects a
moving object in a detection area that is on a left side of the own
vehicle 1, such as in the first detection area Ta or the third
detection area Tc, the display control portion 22 controls the
right display portion 23R to display information regarding the
moving object detected. When the moving object detection portion 20
detects a moving object in a detection area that is on a right side
of the own vehicle 1, such as in the second detection area Tb or
the fourth detection area Td, the display control portion 22
controls the left display portion 23L to display information
regarding the moving object detected.
While only the selected exemplary embodiment and examples have been
chosen to illustrate the present disclosure, it will be apparent to
those skilled in the art from this disclosure that various changes
and modifications can be made therein without departing from the
scope of the disclosure as defined in the appended claims.
Furthermore, the foregoing description of the exemplary embodiment
and examples according to the present disclosure is provided for
illustration only, and not for the purpose of limiting the
disclosure as defined by the appended claims and their
equivalents.
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